Struct PhysicalBodyParams

Struct PhysicalBodyParams#

Inheritance Relationships#

Derived Type#

Struct Documentation#

struct PhysicalBodyParams#

Struct with parameters for a PhysicalBody rigid physical body.

Subclassed by Karana::Dynamics::PhysicalModalBodyParams

Public Functions

inline PhysicalBodyParams &operator=(const PhysicalBodyParams &p)#

copy operator

Public Members

km::SpatialInertia sp_i = km::SpatialInertia(2.0, km::Vec3(0.3, 0.2, 0.1), Eigen::DiagonalMatrix<double, 3>(3, 2, 1))#

the spatial inertia to assign to each body

std::vector<km::Vec3> axes = {{0, 1, 0}}#

the subhinge axes for the body hinges

km::HomTran body_to_joint_transform = km::HomTran(km::UnitQuaternion(.8, .6, 0, 0), km::Vec3(.2, .3, .4))#

the body to joint transform for the bodies

km::HomTran inb_to_joint_transform = km::HomTran(km::UnitQuaternion(.5, .5, .5, .5), km::Vec3(.4, .2, .3))#

the inboard body to joint transform for the bodies

std::vector<ks::ScenePartSpec> scene_part_specs = {}#

list of scene part specs for the body

Contents